#include <iostream>

int load_point_map(const char *filename, PointMap *map, double scale);

int load_line_map(const char *filename,LineMap *map, double scale);
void convert_linemap_to_pointmap(LineMap *map, PointMap *pmap, double resolution);

int load_occupancy_grid_map(const char *filename, OccupancyGridMap *map);
void convert_occupancy_gridmap_to_pointmap(OccupancyGridMap *ogmap, PointMap *pmap, unsigned char threshold);
